scholarly journals Control of vibrational field in an elastic vibration unit with DC motors and time-varying observer

2021 ◽  
pp. 277-286
Author(s):  
Olga P. Tomchina
Keyword(s):  
Control Algorithm ◽  
Closed Loop ◽  
Elastic Vibration ◽  
Synchronization Control ◽  
Time Varying ◽  
Rotor Vibration ◽  
Mechatronic Systems ◽  
Dc Motors ◽  
Stationary Observer ◽  
Drive Dynamics

In the paper the problem of feedback control of vibrational fields in a vibration unit is analyzed taking into account the influence of the elasticity of cardan shafts, the drive dynamics, saturation for control torques. In addition, the synthesized rotor synchronization control algorithm uses the estimates of a non-stationary observer, which makes it possible to implement it practically on a two-rotor vibration unit SV-2. The performance of the closed loop mechatronic systems is examined by simulation for the model of the two-rotor vibration unit SV-2.

scholarly journals Control of vibrational field in a vibration unit: influence of drive dynamics

2019 ◽  
pp. 298-306
Author(s):  
Olga P. Tomchina
Keyword(s):  
Feedback Control ◽  
Closed Loop ◽  
Control Algorithms ◽  
Rotor Vibration ◽  
Mechatronic Systems ◽  
Simulation Results ◽  
Drive Dynamics

In the paper the problem of feedback control of vibrational fields in a vibration unit is analyzed taking into account the influence of the drive dynamics in the case when the control algorithms are designed when the drive dynamics are neglected. The performance of the closed loop mechatronic systems is examined by simulation for the model of the two-rotor vibration unit SV-2M. Comparison of simulation results for two cases (drive dynamics are neglected or taken into account) is performed.

scholarly journals ROTOR SYNCHRONIZATION CONTROL OF DOUBLE-ROTOR VIBRATION UNIT UNDER STOCHASTIC LOAD

2020 ◽  
Vol 4 ◽  
pp. 49-59
Author(s):  
D.A. Tomchin ◽  
◽  
N.V. Gukov ◽  
A.A. Nersesian ◽  
T.A. Sventsitskaya ◽  
...  
Keyword(s):  
Computer Simulation ◽  
Adaptive Control ◽  
Control Algorithm ◽  
Synchronization Control ◽  
Rotor Vibration ◽  
Bulk Materials ◽  
Matlab Software ◽  
Stochastic Load ◽  
Synchronous Operation ◽  
Adaptive Control Algorithm

The paper examines the dynamics of the system for rotor synchronization control of double-rotor vi-bration unit designed for sifting bulk materials. Computer simulation in the MATLAB software envi-ronment shows that the proposed adaptive control algorithm provides a steady synchronous operation under stochastic load.

scholarly journals Trajectory Planning for a 3-SPS-U Tensegrity Mechanism

2021 ◽  
Author(s):  
Swaminath Venkateswaran ◽  
Damien Chablat
Keyword(s):  
Pid Controller ◽  
Control Algorithm ◽  
Closed Loop ◽  
Test Bench ◽  
Inverse Kinematic ◽  
Universal Joint ◽  
Inverse Kinematic Problem ◽  
Inspection Robot ◽  
Dc Motors ◽  
Pass Through

Abstract This article presents the actuation strategy of a 2-DOF tensegrity type mechanism that employs three tension springs and a passive universal joint. This mechanism is proposed to be incorporated as an articulation unit for a piping inspection robot in order to overcome pipe bends and junctions. In the event of a junction, external actuations are required to allow the mechanism as well as the robot to follow a certain direction. Using DC-motors coupled with encoders, experiments are carried out on a test bench of the tensegrity mechanism. The actuation of the mobile platform is performed using cables that pass through each spring. By correlating the architecture to a 3-SPS-U parallel mechanism, the singularity-free workspace of the mechanism is analyzed to identify the tilt limits. A closed-loop PID controller is implemented using a microcomputer to perform a linear trajectory within the singularity-free workspace. The Inverse Kinematic Problem (IKP) is solved by passing input tilt angles to the controller. With the help of a force control algorithm, the experiments are carried out under no-load conditions for vertical and horizontal orientations of the mechanism. The error data of the joint positions and the motor torques are then interpreted for both orientations of the mechanism.

Robust state-constrained control design for nonlinear systems with uncertainties using a new barrier Lyapunov function

2017 ◽  
Vol 40 (12) ◽  
pp. 3489-3497 ◽  
Author(s):  
Jianguo Guo ◽  
Zhenxin Feng ◽  
Jun Zhou
Keyword(s):  
Nonlinear Systems ◽  
Lyapunov Functions ◽  
Control Algorithm ◽  
Closed Loop ◽  
Constrained Control ◽  
Time Varying ◽  
Initial State ◽  
External Disturbances ◽  
Attitude Tracking ◽  
Barrier Lyapunov Functions

In this paper, a robust state-constrained control algorithm is proposed by introducing time-varying barrier Lyapunov functions (BLF) for nonlinear systems with uncertainties. Novel time-varying symmetric/asymmetric forms of error barrier functions are investigated in order to relax the requirements of the initial state compared with existing BLF-based literatures. By integrating the proposed time-varying BLF method with the backstepping technique, constraint satisfaction is achieved and signals in closed-loop are uniform asymptotically stable. In addition, the extended state observer technique is utilized to prevent the constraint violation during the transient phase and strengthen the robustness of the control system in the presence of uncertainties. Numerical simulations are implemented to illustrate the attitude tracking performance obtained from the proposed method for a homing missile with angle of attack constraint, parametric uncertainties and external disturbances.

Tracking Control of Unmanned Surface Vehicles With Abkowitz Steering Model

2010 ◽  
Author(s):  
C. Nataraj ◽  
Ramesh Thimmaraya
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Degrees Of Freedom ◽  
Closed Loop ◽  
Linear Time ◽  
Time Varying ◽  
Unmanned Surface Vehicles ◽  
Varying Coefficients ◽  
Ship Steering ◽  
Time Varying Coefficients

This paper is concerned with the tracking control of unmanned surface vehicles. Steering dynamics is modeled using nonlinear equations with three degrees of freedom following Abkowitz. Tracking control of this nonlinear system leads to the need to derive a control algorithm for linear error equations which have time-varying coefficients. Next, a control algorithm has been derived for this set of linear time-varying equations. Lyapunov transformations have been applied to transform the error equation into a canonical form. A desired closed-loop PD-spectrum and the desired right PD-modal matrix have been chosen and the resulting Sylvester equation has been solved to obtain a matrix of time-varying controller gains. This leads to the closed loop equations for controlling the ship steering of an unmanned ship. The controller algorithm is applied to the motion control of ships with parametric values from published reports. Several tracking trajectories have been generated with and without obstacles, and time-varying control has been investigated and presented. The control algorithm is shown to be quite effective for tracking of unmanned surface vehicles. Stability conditions are derived to ensure convergence. Present work in experimental verification is outlined.

Study of Hydraulic Servo System Based on Fuzzy Sliding Mode Algorithm

2013 ◽  
Vol 753-755 ◽  
pp. 2674-2678
Author(s):  
Kun Yang ◽  
Cai Jun Liu ◽  
Shu Min Liu
Keyword(s):  
Control Algorithm ◽  
Sliding Mode ◽  
Servo System ◽  
Time Varying ◽  
External Interference ◽  
System A ◽  
Hydraulic Servo ◽  
Fuzzy Sliding Mode ◽  
Hydraulic Servo System ◽  
Position Servo

Based on the situation that the hydraulic position servo system is easily influenced by the external interference and the parameters of which are different with time-varying, the fuzzy control can soften the buffeting and the sliding algorithm has no the same problems as the hydraulic position servo system, a brandly-new fuzzy sliding control algorithm is designed. In the simulation process, within the parameters of simulated time-varying and outside strong interference, the results show that the hydraulic servo system based on fuzzy sliding mode control algorithm has a greater resistance to internal and external interference and time-varying parameters.

Sign in / Sign up

Export Citation Format

Share Document